include "2d_gazebo.lua"

TRAJECTORY_BUILDER.pure_localization_trimmer = {
  max_submaps_to_keep = 3,
}

POSE_GRAPH.optimize_every_n_nodes = 10

TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(5)
TRAJECTORY_BUILDER_2D.motion_filter. max_distance_meters = 0.2
TRAJECTORY_BUILDER_2D.motion_filter. max_time_seconds = 0.5
TRAJECTORY_BUILDER_2D.use_imu_data = true
TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = false

POSE_GRAPH.overlapping_submaps_trimmer_2d = {
  fresh_submaps_count = 1,
  min_covered_area = 5,
  min_added_submaps_count = 5,
}

return options
